Complete feature set of initJointTrajectory()

- Implement support for wrapping joints.
- Some function parameters are now optional.
- Comprehensive debug log statements.
- Update unit test suite.
change initJointTrajectory() signature.

- Instead of having 5 parameters: 2 madatory and 3 optional, now there are
  3 parameters: the same 2 mandatory, and an Options class with optional
  data. Specifying the options is optional.

- Update unit tests.
Use uniform naming for wraparound variables.
Unit test case where wraparound spec is ignored.